BaseMechanicsPlugin(): Plugin("BaseMechanics") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
/**
* An implementation of the AssemblySolver
*
* @param model to assemble
*/
AssemblySolver::AssemblySolver
(const Model &model, const SimTK::Array_<CoordinateReference> &coordinateReferences,
double constraintWeight) : Solver(model),
_coordinateReferencesp(coordinateReferences)
{
setAuthors("Ajay Seth");
_assembler = NULL;
_constraintWeight = constraintWeight;
// default accuracy
_accuracy = 1e-4;
// Get model coordinates
const CoordinateSet& modelCoordSet = getModel().getCoordinateSet();
SimTK::Array_<CoordinateReference>::iterator p;
// Cycle through coordinate references
for(p = _coordinateReferencesp.begin();
p != _coordinateReferencesp.end(); p++)
{
if(p){
//Find if any references that are empty and throw them away
if(p->getName() == "" || p->getName() == "unknown"){
//Get rid of the corresponding reference too
p = _coordinateReferencesp.erase(p);
}
// Otherwise an error if the coordinate does not exist for this model
else if ( !modelCoordSet.contains(p->getName())){
throw(Exception("AssemblySolver: Model does not contain coordinate "+p->getName()+"."));
}
}
}
}
GeneralImplicitOdeSolverPlugin(): Plugin("GeneralImplicitOdeSolver") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
BoundaryConditionPlugin(): Plugin("BoundaryCondition") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
BaseVisualPlugin::BaseVisualPlugin():
Plugin("BaseVisual") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
CoordinateReference::CoordinateReference() : Reference_<double>(),
_coordinateValueFunction(_coordinateValueFunctionProp.getValueObjPtrRef()),
_defaultWeight(_defaultWeightProp.getValueDbl())
{
setAuthors("Ajay Seth");
_names.resize(getNumRefs());
_names[0] = getName();
}
/**
* An implementation of the MomentArmSolver
*
*/
MomentArmSolver::MomentArmSolver(const Model &model) : Solver(model)
{
setAuthors("Ajay Seth");
_stateCopy = model.getWorkingState();
// Get the body forces equivalent of the point forces of the path
_bodyForces = Vector_<SpatialVec>(getModel().getNumBodies(), SpatialVec(0));
// get the right size coupling vector
_coupling = _stateCopy.getU();
}
/**
* An implementation of the MomentArmSolver
*
*/
MomentArmSolver::MomentArmSolver(const Model &model) : Solver(model)
{
setAuthors("Ajay Seth");
_stateCopy = model.getWorkingState();
// Get the body forces equivalent of the point forces of the path
_bodyForces = getModel().getSystem()
.getRigidBodyForces(_stateCopy, Stage::Instance);
// get the right size coupling vector
_coupling = _stateCopy.getU();
}
/**
* An implementation of the InverseKinematicsSolver
*
* @param model to assemble
*/
InverseKinematicsSolver::InverseKinematicsSolver(const Model &model, MarkersReference &markersReference,
SimTK::Array_<CoordinateReference> &coordinateReferences,
double constraintWeight) : AssemblySolver(model, coordinateReferences, constraintWeight),
_markersReference(markersReference)
{
setAuthors("Ajay Seth");
// Base AssemblySolver takes care of creating the underlying _assembler and setting up CoordinateReferences;
_markerAssemblyCondition = NULL;
// Do some consistency checking for markers
const MarkerSet &modelMarkerSet = getModel().getMarkerSet();
if(modelMarkerSet.getSize() < 1){
std::cout << "InverseKinematicsSolver: Model has no markers!" << std::endl;
throw Exception("InverseKinematicsSolver: Model has no markers!");
}
const SimTK::Array_<std::string> &markerNames = _markersReference.getNames(); // size and content as in trc file
if(markerNames.size() < 1){
std::cout << "InverseKinematicsSolver: No markers available from data provided." << std::endl;
throw Exception("InverseKinematicsSolver: No markers available from data provided.");
}
int index=0, cnt=0;
for(unsigned int i=0; i < markerNames.size(); i++) {
// Check if we have this marker in the model, else ignore it
index = modelMarkerSet.getIndex(markerNames[i], index);
if(index >= 0) //found corresponding model
cnt++;
}
if(cnt < 1){
std::cout <<"InverseKinematicsSolver: Marker data does not correspond to any model markers." << std::endl;
throw Exception("InverseKinematicsSolver: Marker data does not correspond to any model markers.");
}
if(cnt < 4)
cout << "WARNING: InverseKinematicsSolver found only " << cnt << " markers to track." << endl;
}
MiscMappingPlugin(): Plugin("MiscMapping") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
MeshCollisionPlugin(): Plugin("MeshCollision") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
void HuntCrossleyForce::ContactParametersSet::setNull()
{
setAuthors("Peter Eastman");
}
MiscForceFieldPlugin(): Plugin("MiscForceField") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
BaseTopologyPlugin(): Plugin("BaseTopology") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
ObjectInteractionPlugin(): Plugin("ObjectInteraction") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
void ElasticFoundationForce::ContactParametersSet::setNull()
{
setAuthors("Peter Eastman");
}
/**
* An implementation of the InverseDynamicsSolver
*
* @param model to assemble
*/
InverseDynamicsSolver::InverseDynamicsSolver(const Model &model) : Solver(model)
{
setAuthors("Ajay Seth");
}
PreconditionerPlugin(): Plugin("Preconditioner") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
void ContactGeometry::setNull()
{
setAuthors("Peter Eastman");
}
EnginePlugin(): Plugin("Engine") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
DenseSolverPlugin(): Plugin("DenseSolver") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
//_____________________________________________________________________________
// Set the data members of this Force to their null values.
void Force::setNull()
{
setAuthors("Peter Eastman, Ajay Seth");
}
NonUniformFemPlugin(): Plugin("NonUniformFem") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
EulerianFluidPlugin(): Plugin("EulerianFluid") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
GeneralLoaderPlugin(): Plugin("GeneralLoader") {
setDescription("");
setVersion("");
setLicense("LGPL");
setAuthors("The SOFA Team");
}
void ContactHalfSpace::setNull()
{
setAuthors("Peter Eastman");
}
void ContactMesh::setNull()
{
setAuthors("Peter Eastman");
}
MarkersReference::MarkersReference() : Reference_<SimTK::Vec3>()
{
constructProperties();
setAuthors("Ajay Seth");
}
